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 *
 *   Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
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#pragma once

#include <limits.h>

#include <mixer_module/output_functions.hpp>

#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>

#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>

class FunctionProviderBase
{
public:
	struct Context {
		px4::WorkItem &work_item;
		const float &thrust_factor;
	};

	FunctionProviderBase() = default;
	virtual ~FunctionProviderBase() = default;

	virtual void update() = 0;

	/**
	 * Get the current output value for a given function
	 * @return NAN (=disarmed) or value in range [-1, 1]
	 */
	virtual float value(OutputFunction func) = 0;

	virtual float defaultFailsafeValue(OutputFunction func) const { return NAN; }
	virtual bool allowPrearmControl() const { return true; }

	virtual uORB::SubscriptionCallbackWorkItem *subscriptionCallback() { return nullptr; }

	virtual bool getLatestSampleTimestamp(hrt_abstime &t) const { return false; }

	/**
	 * Check whether the output (motor) is configured to be reversible
	 */
	virtual bool reversible(OutputFunction func) const { return false; }
};
